Two-input control-affine systems linearizable via one-fold prolongation and their flatness. (March 2016)

• Record Type: Journal Article
• Authors: Nicolau, Florentina; Respondek, Witold
• Is Part Of: European journal of control. Volume 28(2016:Mar.)
• Page Start: 20
• Page End: 37
• Publication Date: 2016-03
• Subjects: Flatness -- Flat outputs -- Differential weight -- Linearization -- Normal forms; Control theory -- Periodicals; Automatic control -- Periodicals; Automatic control -- Mathematics -- Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.ejcon.2015.11.001
• Languages: English
• ISSNs: 0947-3580

Abstract

Abstract: We study flatness of two-input control-affine systems, defined on an n -dimensional state-space. We give a complete geometric characterization of systems that become static feedback linearizable after a one-fold prolongation of a suitably chosen control. They form a particular class of flat systems: they are of differential weight n + 3. We give normal forms compatible with the minimal flat outputs and provide a system of first order PDE׳s to be solved in order to find all minimal flat outputs. We illustrate our results by two examples: the induction motor and the polymerization reactor.